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Commit e9e02fe6 由 张东亮
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Merge branch 'master' of http://106.15.194.121:8083/lina/SO908-XLRStore

2 个父辈 fd17a297 f8dca7a7
内嵌 并排
正在显示 14 个修改的文件 包含 258 行增加 和 74 行删除
dll/CodeLibrary.dll
此文件类型无法预览
dll/EyemLib/detect-tiny-label.cfg 0 → 100644
[net]
# Testing
batch=1
subdivisions=1
# Training
# batch=64
# subdivisions=64
width=960
height=960
channels=3
momentum=0.9
decay=0.0005
angle=180
saturation = 1.5
exposure = 1.5
hue=.1
learning_rate=0.001
burn_in=1000
max_batches = 4000
policy=steps
steps=3200,3600
scales=.1,.1
[convolutional]
batch_normalize=1
filters=16
size=3
stride=1
pad=1
activation=leaky
[maxpool]
size=2
stride=2
[convolutional]
batch_normalize=1
filters=32
size=3
stride=1
pad=1
activation=leaky
[maxpool]
size=2
stride=2
[convolutional]
batch_normalize=1
filters=64
size=3
stride=1
pad=1
activation=leaky
[maxpool]
size=2
stride=2
[convolutional]
batch_normalize=1
filters=128
size=3
stride=1
pad=1
activation=leaky
[maxpool]
size=2
stride=2
[convolutional]
batch_normalize=1
filters=256
size=3
stride=1
pad=1
activation=leaky
[maxpool]
size=2
stride=2
[convolutional]
batch_normalize=1
filters=512
size=3
stride=1
pad=1
activation=leaky
[maxpool]
size=2
stride=1
[convolutional]
batch_normalize=1
filters=1024
size=3
stride=1
pad=1
activation=leaky
###########
[convolutional]
batch_normalize=1
filters=256
size=1
stride=1
pad=1
activation=leaky
[convolutional]
batch_normalize=1
filters=512
size=3
stride=1
pad=1
activation=leaky
[convolutional]
size=1
stride=1
pad=1
filters=18
activation=linear
[yolo]
mask = 3,4,5
anchors = 10,14, 23,27, 37,58, 81,82, 135,169, 344,319
classes=1
num=6
jitter=.3
ignore_thresh = .7
truth_thresh = 1
random=1
[route]
layers = -4
[convolutional]
batch_normalize=1
filters=128
size=1
stride=1
pad=1
activation=leaky
[upsample]
stride=2
[route]
layers = -1, 8
[convolutional]
batch_normalize=1
filters=256
size=3
stride=1
pad=1
activation=leaky
[convolutional]
size=1
stride=1
pad=1
filters=18
activation=linear
[yolo]
mask = 0,1,2
anchors = 10,14, 23,27, 37,58, 81,82, 135,169, 344,319
classes=1
num=6
jitter=.3
ignore_thresh = .7
truth_thresh = 1
random=1
dll/EyemLib/detect-tiny-label.weights 0 → 100644
此文件太大，无法显示。
dll/EyemLib/eyemLib.dll 0 → 100644
此文件类型无法预览
dll/EyemLib/libdmtx.dll 0 → 100644
此文件类型无法预览
dll/EyemLib/opencv_world420.dll 0 → 100644
此文件太大，无法显示。
dll/EyemLib/tbb.dll 0 → 100644
此文件类型无法预览
source/DeviceLibrary/Config/Config_InputEquip.csv
类型,分类编号,说明,名称,属性值,设备名称,电器定义,目标速度,加速度,减速度,回零低速,回零高速,回零加速度,脉冲最小误差,脉冲最大误差,脉冲最小限位,脉冲最大限位
AXIS,0,A料口提升轴,BatchAxis_A,10,HC,,300000,200000,200000,800,10000,10000,10,100,0,0
AXIS,0,B料口提升轴,BatchAxis_B,11,HC,,800000,1500000,1500000,1200,8000,30000,10,100,0,0
AXIS,0,取料升降轴,TakeAxis_Updown,12,HC,,300000,200000,200000,800,10000,10000,10,100,0,0
AXIS,0,取料旋转轴,TakeAxis_Middle,13,HC,,800000,1500000,1500000,1200,8000,30000,10,100,0,0
类型,分类编号,说明,名称,属性值,设备名称,电器定义,目标速度,加速度,减速度,回零低速,回零高速,回零加速度,脉冲最小误差,脉冲最大误差,脉冲最小限位,脉冲最大限位
AXIS,0,A料口提升轴,BatchAxis_A,10,HC,,30000,80000,80000,2000,10000,30000,10,100,0,0
AXIS,0,B料口提升轴,BatchAxis_B,11,HC,,30000,80000,80000,2000,10000,30000,10,100,0,0
AXIS,0,取料升降轴,TakeAxis_Updown,12,HC,,30000,80000,80000,800,10000,30000,10,100,0,0
AXIS,0,取料旋转轴,TakeAxis_Middle,13,HC,,10000,30000,30000,2000,8000,20000,10,100,0,0
,,,,,,,,,,,,,,,,
PRO,0,设备是否处于调试状态（1=调试，0=正常）,IsDebug,0,,,,,,,,,,,,
PRO,0,是否使用夹爪（1=使用夹爪，0=用吸盘）,UseClampJaw,1,,,,,,,,,,,,
PRO,0,A侧扫码的相机名称(多个用#分隔),CameraNameList_A,GigE:MV-CE200-10GC (00E78064929),,,,,,,,,,,,
PRO,0,B侧扫码的相机名称(多个用#分隔),CameraNameList_B,GigE:MV-CE200-10GC (00E78064929),,,,,,,,,,,,
,,,,,,,,,,,,,,,,,,
PRO,0,A侧上料料架-RFID-IP,PRO_RFIP_A,192.168.101.103,,,,,,,,,,,,,,
PRO,0,B侧上料料架-RFID-IP,PRO_RFIP_B,192.168.101.104,,,,,,,,,,,,,,
PRO,0,设备是否处于调试状态（1=调试，0=正常）,IsDebug,0,,,,,,,,,,,,
PRO,0,是否使用夹爪（1=使用夹爪，0=用吸盘）,UseClampJaw,1,,,,,,,,,,,,
PRO,0,A侧扫码的相机名称(多个用#分隔),CameraNameList_A,GigE:MV-CE200-10GC (00E70964538),,,,,,,,,,,,
PRO,0,B侧扫码的相机名称(多个用#分隔),CameraNameList_B,GigE:MV-CE200-10GC (00E78064946),,,,,,,,,,,,
,,,,,,,,,,,,,,,,
PRO,0,AGV小车站号名称_A侧,AgvName_A,T1_1,,,,,,,,,,,,
PRO,0,AGV小车站号名称_B侧,AgvName_B,T1_2,,,,,,,,,,,,
PRO,0,A侧上料料架-RFID-IP,PRO_RFIP_A,192.168.101.103,,,,,,,,,,,,
PRO,0,B侧上料料架-RFID-IP,PRO_RFIP_B,192.168.101.104,,,,,,,,,,,,
,,,,,,,,,,,,,,,,
PRO,0,提升轴待机点_A侧,BatchAxisP1_A,1000,,,,,,,,,,,,
PRO,0,提升轴上料目标点_A侧,BatchAxisP2_A,428000,,,,,,,,,,,,
PRO,0,AGV小车站号名称_A侧,AgvName_A,T1_1,,,,,,,,,,,,
PRO,0,AGV小车站号名称_B侧,AgvName_B,T1_2,,,,,,,,,,,,
,,,,,,,,,,,,,,,,
PRO,0,提升轴待机点_B侧,BatchAxisP1_B,1000,,,,,,,,,,,,
PRO,0,提升轴上料目标点_B侧,BatchAxisP2_B,428000,,,,,,,,,,,,
PRO,0,提升轴待机点_A侧,BatchAxisP1_A,1000,,,,,,,,,,,,
PRO,0,提升轴上料目标点_A侧,BatchAxisP2_A,582239,,,,,,,,,,,,
,,,,,,,,,,,,,,,,
PRO,0,提升上料轴P1速度,BatchAxis_P1Speed,70000,,,,,,,,,,,,
PRO,0,提升上料轴P2速度,BatchAxis_P2Speed,5000,,,,,,,,,,,,
PRO,0,提升上料轴P3速度/料盘拿走后提升轴下降速度,BatchAxis_P3Speed,5000,,,,,,,,,,,,
PRO,0,提升上料轴高度转换系数（1mm对应的脉冲）,Height_ChangeValue,804,,,,,,,,,,,,
PRO,0,提升轴待机点_B侧,BatchAxisP1_B,1000,,,,,,,,,,,,
PRO,0,提升轴上料目标点_B侧,BatchAxisP2_B,428000,,,,,,,,,,,,
,,,,,,,,,,,,,,,,
PRO,0,取料升降轴_待机点,Updown_P1,100,,,,,,,,,,,,
PRO,0,取料升降轴_A料口取料点,Updown_P2_ATake,101,,,,,,,,,,,,
PRO,0,取料升降轴_B料口取料点,Updown_P3_BTake,102,,,,,,,,,,,,
PRO,0,取料升降轴_A上暂存区放料高点,Updown_P4_AUpperH,103,,,,,,,,,,,,
PRO,0,取料升降轴_A上暂存区放料低点,Updown_P5_AUpperL,104,,,,,,,,,,,,
PRO,0,取料升降轴_A下暂存区取料高点,Updown_P6_AUnderH,105,,,,,,,,,,,,
PRO,0,取料升降轴_A下暂存区取料低点,Updown_P7_AUnderL,106,,,,,,,,,,,,
PRO,0,取料升降轴_NG料区放料高点,Updown_P8_NGH,107,,,,,,,,,,,,
PRO,0,取料升降轴_NG料区放料低点,Updown_P9_NGL,108,,,,,,,,,,,,
PRO,0,取料升降轴_B上暂存区放料高点,Updown_P10_BUpperH,109,,,,,,,,,,,,
PRO,0,取料升降轴_B上暂存区放料低点,Updown_P11_BUpperL,110,,,,,,,,,,,,
PRO,0,取料升降轴_B下暂存区取料高点,Updown_P12_BUnderH,111,,,,,,,,,,,,
PRO,0,取料升降轴_B下暂存区取料低点,Updown_P13_BUnderL,112,,,,,,,,,,,,
PRO,0,提升上料轴P1速度,BatchAxis_P1Speed,20000,,,,,,,,,,,,
PRO,0,提升上料轴P2速度,BatchAxis_P2Speed,5000,,,,,,,,,,,,
PRO,0,提升上料轴P3速度/料盘拿走后提升轴下降速度,BatchAxis_P3Speed,10000,,,,,,,,,,,,
PRO,0,提升上料轴高度转换系数（1mm对应的脉冲）,Height_ChangeValue,804,,,,,,,,,,,,
,,,,,,,,,,,,,,,,
PRO,0,取料升降轴_P1速度,Updown_P1_Speed,108,,,,,,,,,,,,
PRO,1,取料升降轴_P2速度,Updown_P2_Speed,109,,,,,,,,,,,,
PRO,2,取料升降轴_P3速度,Updown_P3_Speed,110,,,,,,,,,,,,
PRO,3,取料升降轴_P4速度,Updown_P4_Speed,111,,,,,,,,,,,,
PRO,4,取料升降轴_P5速度,Updown_P5_Speed,112,,,,,,,,,,,,
PRO,5,取料升降轴_P6速度,Updown_P6_Speed,113,,,,,,,,,,,,
PRO,6,取料升降轴_P7速度,Updown_P7_Speed,114,,,,,,,,,,,,
PRO,7,取料升降轴_P8速度,Updown_P8_Speed,115,,,,,,,,,,,,
PRO,8,取料升降轴_P9速度,Updown_P9_Speed,116,,,,,,,,,,,,
PRO,9,取料升降轴_P10速度,Updown_P10_Speed,117,,,,,,,,,,,,
PRO,10,取料升降轴_P11速度,Updown_P11_Speed,118,,,,,,,,,,,,
PRO,11,取料升降轴_P12速度,Updown_P12_Speed,119,,,,,,,,,,,,
PRO,12,取料升降轴_P13速度,Updown_P13_Speed,120,,,,,,,,,,,,
PRO,0,取料升降轴_待机点,Updown_P1,403669,,,,,,,,,,,,
PRO,0,取料升降轴_A料口取料点,Updown_P2_ATake,20660,,,,,,,,,,,,
PRO,0,取料升降轴_B料口取料点,Updown_P3_BTake,102,,,,,,,,,,,,
PRO,0,取料升降轴_A上暂存区放料高点,Updown_P4_AUpperH,405000,,,,,,,,,,,,
PRO,0,取料升降轴_A上暂存区放料低点,Updown_P5_AUpperL,342828,,,,,,,,,,,,
PRO,0,取料升降轴_A下暂存区取料高点,Updown_P6_AUnderH,103403,,,,,,,,,,,,
PRO,0,取料升降轴_A下暂存区取料低点,Updown_P7_AUnderL,39619,,,,,,,,,,,,
PRO,0,取料升降轴_NG料区放料高点,Updown_P8_NGH,113403,,,,,,,,,,,,
PRO,0,取料升降轴_NG料区放料低点,Updown_P9_NGL,37981,,,,,,,,,,,,
PRO,0,取料升降轴_B上暂存区放料高点,Updown_P10_BUpperH,405000,,,,,,,,,,,,
PRO,0,取料升降轴_B上暂存区放料低点,Updown_P11_BUpperL,342828,,,,,,,,,,,,
PRO,0,取料升降轴_B下暂存区取料高点,Updown_P12_BUnderH,43619,,,,,,,,,,,,
PRO,0,取料升降轴_B下暂存区取料低点,Updown_P13_BUnderL,112,,,,,,,,,,,,
,,,,,,,,,,,,,,,,
PRO,0,取料旋转轴_待机点,Middle_P1,100,,,,,,,,,,,,
PRO,0,取料旋转轴_A料口取料点,Middle_P2_ATake,101,,,,,,,,,,,,
PRO,0,取料旋转轴_B料口取料点,Middle_P3_BTake,102,,,,,,,,,,,,
PRO,0,取料旋转轴_A上暂存区放料点,Middle_P4_AUpper,103,,,,,,,,,,,,
PRO,0,取料旋转轴_B上暂存区放料点,Middle_P5_BUpper,104,,,,,,,,,,,,
PRO,0,取料旋转轴_NG料区放料点,Middle_P6_NG,105,,,,,,,,,,,,
PRO,0,取料旋转轴_A下暂存区取料点,Middle_P7_AUnder,106,,,,,,,,,,,,
PRO,0,取料旋转轴_B下暂存区取料点,Middle_P8_BUnder,107,,,,,,,,,,,,
PRO,0,取料旋转轴_P1速度,Middle_P1_Speed,108,,,,,,,,,,,,
PRO,1,取料旋转轴_P2速度,Middle_P2_Speed,109,,,,,,,,,,,,
PRO,2,取料旋转轴_P3速度,Middle_P3_Speed,110,,,,,,,,,,,,
PRO,3,取料旋转轴_P4速度,Middle_P4_Speed,111,,,,,,,,,,,,
PRO,4,取料旋转轴_P5速度,Middle_P5_Speed,112,,,,,,,,,,,,
PRO,5,取料旋转轴_P6速度,Middle_P6_Speed,113,,,,,,,,,,,,
PRO,6,取料旋转轴_P7速度,Middle_P7_Speed,114,,,,,,,,,,,,
PRO,7,取料旋转轴_P8速度,Middle_P8_Speed,115,,,,,,,,,,,,
PRO,0,取料升降轴_P1速度,Updown_P1_Speed,10000,,,,,,,,,,,,
PRO,1,取料升降轴_P2速度,Updown_P2_Speed,10000,,,,,,,,,,,,
PRO,2,取料升降轴_P3速度,Updown_P3_Speed,10000,,,,,,,,,,,,
PRO,3,取料升降轴_P4速度,Updown_P4_Speed,10000,,,,,,,,,,,,
PRO,4,取料升降轴_P5速度,Updown_P5_Speed,10000,,,,,,,,,,,,
PRO,5,取料升降轴_P6速度,Updown_P6_Speed,10000,,,,,,,,,,,,
PRO,6,取料升降轴_P7速度,Updown_P7_Speed,10000,,,,,,,,,,,,
PRO,7,取料升降轴_P8速度,Updown_P8_Speed,10000,,,,,,,,,,,,
PRO,8,取料升降轴_P9速度,Updown_P9_Speed,10000,,,,,,,,,,,,
PRO,9,取料升降轴_P10速度,Updown_P10_Speed,10000,,,,,,,,,,,,
PRO,10,取料升降轴_P11速度,Updown_P11_Speed,10000,,,,,,,,,,,,
PRO,11,取料升降轴_P12速度,Updown_P12_Speed,10000,,,,,,,,,,,,
PRO,12,取料升降轴_P13速度,Updown_P13_Speed,10000,,,,,,,,,,,,
,,,,,,,,,,,,,,,,
PRO,0,取料旋转轴_待机点,Middle_P1,126912,,,,,,,,,,,,
PRO,0,取料旋转轴_A料口取料点,Middle_P2_ATake,160838,,,,,,,,,,,,
PRO,0,取料旋转轴_B料口取料点,Middle_P3_BTake,102,,,,,,,,,,,,
PRO,0,取料旋转轴_A上暂存区放料点,Middle_P4_AUpper,251022,,,,,,,,,,,,
PRO,0,取料旋转轴_B上暂存区放料点,Middle_P5_BUpper,104,,,,,,,,,,,,
PRO,0,取料旋转轴_NG料区放料点,Middle_P6_NG,214355,,,,,,,,,,,,
PRO,0,取料旋转轴_A下暂存区取料点,Middle_P7_AUnder,251022,,,,,,,,,,,,
PRO,0,取料旋转轴_B下暂存区取料点,Middle_P8_BUnder,107,,,,,,,,,,,,
PRO,0,取料旋转轴_P1速度,Middle_P1_Speed,10000,,,,,,,,,,,,
PRO,1,取料旋转轴_P2速度,Middle_P2_Speed,10000,,,,,,,,,,,,
PRO,2,取料旋转轴_P3速度,Middle_P3_Speed,10000,,,,,,,,,,,,
PRO,3,取料旋转轴_P4速度,Middle_P4_Speed,10000,,,,,,,,,,,,
PRO,4,取料旋转轴_P5速度,Middle_P5_Speed,10000,,,,,,,,,,,,
PRO,5,取料旋转轴_P6速度,Middle_P6_Speed,10000,,,,,,,,,,,,
PRO,6,取料旋转轴_P7速度,Middle_P7_Speed,10000,,,,,,,,,,,,
PRO,7,取料旋转轴_P8速度,Middle_P8_Speed,10000,,,,,,,,,,,,
source/DeviceLibrary/Config/Config_Store.csv
......@@ -44,8 +44,8 @@ DI,2,料屉第15层检测信号,Row_Check_15,30,HC,X30,,,,,,,,,,,,
DI,2,左前门门禁信号(存储机构),LeftDoor_Limit,32,HC,X32,,,,,,,,,,,,
DI,2,右前门门禁信号(存储机构),RightDoor_Limit,33,HC,X33,,,,,,,,,,,,
DI,2,后门门禁信号(存储机构),BackDoor_Limit,34,HC,X34,,,,,,,,,,,,
,1,急停（取料机构）,SuddenStop_BTN,35,HC,X35,,,,,,,,,,,,
,1,复位（取料机构）,Reset_BTN,36,HC,X36,,,,,,,,,,,,
DI,1,急停（取料机构）,SuddenStop_BTN,35,HC,X35,,,,,,,,,,,,
DI,1,复位（取料机构）,Reset_BTN,36,HC,X36,,,,,,,,,,,,
DI,1,光栅信号,SafetyRasterSignal,37,HC,X37,,,,,,,,,,,,
DI,1,旋转臂A料口侧检测,MAxis_Check_A,38,HC,X38,,,,,,,,,,,,
DI,1,旋转臂B料口侧检测,MAxis_Check_B,39,HC,X39,,,,,,,,,,,,
......
source/DeviceLibrary/baan/AxisBean.cs
......@@ -23,8 +23,9 @@ namespace OnlineStore.DeviceLibrary
public int LastPosition = 0;
public string AxisName;
public AxisBean(ConfigMoveAxis axisConfig, string deviceName)
public AxisBean(ConfigMoveAxis axisConfig, string deviceName,bool needHome=false)
{
this.IsNeedHome = needHome;
this.Config = axisConfig;
AxisName = deviceName + " " + Config.Explain + "[" + Config.DeviceName + "-" + Config.GetAxisValue() + "]";
}
......
source/DeviceLibrary/storeBean/inputBean/BatchMoveBean.cs
......@@ -94,7 +94,7 @@ namespace OnlineStore.DeviceLibrary
if (StoreManager.checkWatch(shelfWatch, 10000, true))
{
var agvcallresult = AgvClient.NeedEnter(Config.AgvName, "", Asa.ClientLevel.High);
WorkLog("无料串,：通知agv来送料串AgvName:" + Config.AgvName + ",agvcallresult:" + agvcallresult.ToString());
WorkLog("无料串,：通知agv来送料串AgvName:" + Config.AgvName + ",send NeedEnter=:" + agvcallresult.ToString());
}
}
else if (Robot.IOValue(Config.IO_LineIn_Check).Equals(IO_VALUE.HIGH) && Robot.IOValue(Config.IO_LineEnd_Check).Equals(IO_VALUE.HIGH)
......@@ -168,6 +168,7 @@ namespace OnlineStore.DeviceLibrary
{
LineStop();
MoveInfo.NextMoveStep(StepEnum.IBR04_BatchHome);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
WorkLog("复位：批量轴开始回原点");
BatchAxis.HomeMove(MoveInfo);
}
......@@ -266,7 +267,7 @@ namespace OnlineStore.DeviceLibrary
Robot.IOMove(Config.IO_Shelf_StopUp, IO_VALUE.HIGH);
if (moveInfo != null)
{
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(Config.IO_Shelf_StopDown, IO_VALUE.HIGH));
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(Config.IO_Shelf_StopDown, IO_VALUE.LOW));
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(Config.IO_Shelf_StopUp, IO_VALUE.HIGH));
}
}
......
source/DeviceLibrary/storeBean/inputBean/InputEquip.cs
......@@ -40,11 +40,11 @@ namespace OnlineStore.DeviceLibrary
ledProcessTimer.Elapsed += LedProcess;
IoCheckTimer.Elapsed += IoCheckTimerProcess;
MiddleAxis = new AxisBean(config.TakeAxis_Middle, Name);
UpdownAxis = new AxisBean(config.TakeAxis_Updown, Name);
MiddleAxis = new AxisBean(config.TakeAxis_Middle, Name,true);
UpdownAxis = new AxisBean(config.TakeAxis_Updown, Name,true);
BatchAxis_A = new AxisBean(config.BatchAxis_A, Name);
BatchAxis_B = new AxisBean(config.BatchAxis_B, Name);
BatchAxis_A = new AxisBean(config.BatchAxis_A, Name,true);
BatchAxis_B = new AxisBean(config.BatchAxis_B, Name,true);
moveAxisArray = new AxisBean[] { MiddleAxis, UpdownAxis };
if (config.UseClampJaw.Equals(1))
{
......
source/XLRStoreClient/inputForm/FrmBatchMove.Designer.cs
......@@ -236,7 +236,7 @@
this.batchAxisP2.Name = "batchAxisP2";
this.batchAxisP2.PointBackColor = System.Drawing.Color.Transparent;
this.batchAxisP2.PointForeColor = System.Drawing.Color.Blue;
this.batchAxisP2.PointText = "上升待机点P1：";
this.batchAxisP2.PointText = "上升待机点P2：";
this.batchAxisP2.PointValue = 0;
this.batchAxisP2.Size = new System.Drawing.Size(233, 41);
this.batchAxisP2.TabIndex = 325;
......
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